{"id":"https://openalex.org/W4294692015","doi":"https://doi.org/10.23919/acc53348.2022.9867160","title":"On the Accuracy of Numerical Differentiation Using High-Gain Observers and Adaptive Input Estimation","display_name":"On the Accuracy of Numerical Differentiation Using High-Gain Observers and Adaptive Input Estimation","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294692015","doi":"https://doi.org/10.23919/acc53348.2022.9867160"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867160","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867160","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005626622","display_name":"Shashank Verma","orcid":"https://orcid.org/0000-0001-7673-4738"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shashank Verma","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014282154","display_name":"Sneha Sanjeevini","orcid":"https://orcid.org/0000-0002-6501-9752"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sneha Sanjeevini","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016904650","display_name":"E. Dogan Sumer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"E. Dogan Sumer","raw_affiliation_strings":["Ford Motor Company"],"affiliations":[{"raw_affiliation_string":"Ford Motor Company","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074685221","display_name":"Anouck Girard","orcid":"https://orcid.org/0000-0003-3410-7271"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anouck Girard","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009770702","display_name":"Dennis S. Bernstein","orcid":"https://orcid.org/0000-0003-0399-3039"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis S. Bernstein","raw_affiliation_strings":["University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Aerospace Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005626622"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":2.8313,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.92639029,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4068","last_page":"4073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6675533056259155},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5897350311279297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5867881178855896},{"id":"https://openalex.org/keywords/numerical-differentiation","display_name":"Numerical differentiation","score":0.5548982620239258},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.547851026058197},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5174144506454468},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.49008357524871826},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4469173550605774},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.4173656404018402},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3848245441913605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2989646792411804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17925745248794556},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10351800918579102},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10319030284881592}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6675533056259155},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5897350311279297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5867881178855896},{"id":"https://openalex.org/C154181440","wikidata":"https://www.wikidata.org/wiki/Q1683292","display_name":"Numerical differentiation","level":2,"score":0.5548982620239258},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.547851026058197},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5174144506454468},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.49008357524871826},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4469173550605774},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.4173656404018402},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3848245441913605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2989646792411804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17925745248794556},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10351800918579102},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10319030284881592},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867160","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867160","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1531111427","https://openalex.org/W1964826991","https://openalex.org/W1978060721","https://openalex.org/W1984215648","https://openalex.org/W1990438944","https://openalex.org/W1992308406","https://openalex.org/W2036988922","https://openalex.org/W2057798714","https://openalex.org/W2087747235","https://openalex.org/W2088429582","https://openalex.org/W2106799220","https://openalex.org/W2116611454","https://openalex.org/W2125079402","https://openalex.org/W2149066576","https://openalex.org/W2160788529","https://openalex.org/W2171586947","https://openalex.org/W2461017019","https://openalex.org/W2466756108","https://openalex.org/W2505815630","https://openalex.org/W2728201304","https://openalex.org/W2791422719","https://openalex.org/W2794266846","https://openalex.org/W2891828630","https://openalex.org/W2964117614","https://openalex.org/W2982118139","https://openalex.org/W3097427246","https://openalex.org/W3135242233"],"related_works":["https://openalex.org/W2366352762","https://openalex.org/W2613964090","https://openalex.org/W2081322886","https://openalex.org/W2380425739","https://openalex.org/W2006251942","https://openalex.org/W2349324463","https://openalex.org/W1988313539","https://openalex.org/W2027541371","https://openalex.org/W2364741597","https://openalex.org/W2380535488"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,87,114,131],"control":[3],"a":[4,57,65,97,136],"system":[5],"is":[6,27,64,76,85,159],"often":[7],"enhanced":[8],"by":[9],"feeding":[10],"back":[11],"the":[12,62,79,82,89,150],"derivatives":[13],"of":[14,20,67,135],"sensor":[15],"signals,":[16],"such":[17],"as":[18,56,96],"estimates":[19],"velocity":[21,142],"and":[22,43,46,106,123,143,153],"acceleration":[23],"when":[24],"only":[25,41],"position":[26,133],"measured.":[28],"Within":[29],"this":[30],"context,":[31],"signal":[32],"differentiation":[33,55,94],"must":[34],"be":[35],"performed":[36],"causally,":[37],"that":[38],"is,":[39],"using":[40],"current":[42],"past":[44],"data":[45,134],"with":[47,103],"minimal":[48],"computational":[49],"latency.":[50],"This":[51],"paper":[52],"formulates":[53],"causal":[54],"sampled-data":[58],"input-estimation":[59],"problem,":[60],"where":[61,78],"plant":[63],"cascade":[66],"integrators.":[68],"Adaptive":[69],"input":[70,109],"estimation":[71,110],"based":[72],"on":[73],"retrospective-cost":[74],"optimization":[75],"considered,":[77],"innovations":[80],"from":[81],"Kalman":[83],"filter":[84],"used":[86,160],"drive":[88],"online":[90],"adaptation.":[91],"Using":[92],"backward-difference":[93],"(BDD)":[95],"baseline":[98],"comparison,":[99],"high-gain":[100],"observers":[101],"(HGO)":[102],"bilinear":[104],"discretization":[105],"retrospective":[107],"cost":[108],"(RCIE)":[111],"are":[112,128],"applied":[113,130],"harmonic":[115],"signals":[116],"under":[117],"various":[118],"noise":[119,151,162],"levels":[120],"for":[121,139,161],"single":[122],"double":[124],"differentiation.":[125],"These":[126],"methods":[127],"then":[129],"experimental":[132],"small":[137],"rover":[138],"estimating":[140],"its":[141],"acceleration.":[144],"Neither":[145],"method":[146],"uses":[147],"information":[148],"about":[149],"statistics,":[152],"no":[154],"analog":[155],"or":[156],"digital":[157],"filtering":[158],"suppression.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}